Study of forces in a 2T9R robot mechanism

Detalhes bibliográficos
Autor(a) principal: Comanescu, Adriana
Data de Publicação: 2021
Outros Autores: Rotaru, Alexandra, Petrescu, Florian Ion Tiberiu
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Independent Journal of Management & Production
Texto Completo: http://www.ijmp.jor.br/index.php/ijmp/article/view/1554
Resumo: The paper presents in detail a method of calculating the forces acting on a 2T9R type robot. In order to determine the reactions (forces in the kinematic couples), one must first determine the inertial forces in the mechanism to which one or more useful loads of the robot can be added. The torsor of the inertia forces is calculated with the help of the masses of the machine elements and the accelerations from the centers of mass of the mechanism elements, so the positions, velocities, and accelerations acting on it will be determined, i.e. its complete kinematics. The calculation method applied by a MathCad program intelligently uses data entry through the IFLOG logic function so that the calculations can be automated. So the effective automation of the calculation program is done exclusively through the IFLOG functions originally used in the paper.
id IJMP_c4e3c0df45de562f262e366ba3facf59
oai_identifier_str oai:www.ijmp.jor.br:article/1554
network_acronym_str IJMP
network_name_str Independent Journal of Management & Production
repository_id_str
spelling Study of forces in a 2T9R robot mechanismIfLogRobot2T9R robotForcesKinematicsGeometric-analytical methodDirect kinematicsInverse kinematicsThe paper presents in detail a method of calculating the forces acting on a 2T9R type robot. In order to determine the reactions (forces in the kinematic couples), one must first determine the inertial forces in the mechanism to which one or more useful loads of the robot can be added. The torsor of the inertia forces is calculated with the help of the masses of the machine elements and the accelerations from the centers of mass of the mechanism elements, so the positions, velocities, and accelerations acting on it will be determined, i.e. its complete kinematics. The calculation method applied by a MathCad program intelligently uses data entry through the IFLOG logic function so that the calculations can be automated. So the effective automation of the calculation program is done exclusively through the IFLOG functions originally used in the paper.Independent2021-12-21info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdftext/htmlhttp://www.ijmp.jor.br/index.php/ijmp/article/view/155410.14807/ijmp.v12i9.1554Independent Journal of Management & Production; Vol. 12 No. 9 (2021): Independent Journal of Management & Production (Special Edition IFLOG); s741-s7732236-269X2236-269Xreponame:Independent Journal of Management & Productioninstname:Instituto Federal de Educação, Ciência e Tecnologia de São Paulo (IFSP)instacron:IJM&Penghttp://www.ijmp.jor.br/index.php/ijmp/article/view/1554/2066http://www.ijmp.jor.br/index.php/ijmp/article/view/1554/2067Copyright (c) 2021 Prof. Dr. Eng. Adriana Comanescu, Dr. Eng. Alexandra Rotaru, Florian Ion Tiberiu Petrescuhttp://creativecommons.org/licenses/by-nc-sa/4.0info:eu-repo/semantics/openAccessComanescu, AdrianaRotaru, AlexandraPetrescu, Florian Ion Tiberiu2021-12-21T11:59:38Zoai:www.ijmp.jor.br:article/1554Revistahttp://www.ijmp.jor.br/PUBhttp://www.ijmp.jor.br/index.php/ijmp/oaiijmp@ijmp.jor.br||paulo@paulorodrigues.pro.br||2236-269X2236-269Xopendoar:2021-12-21T11:59:38Independent Journal of Management & Production - Instituto Federal de Educação, Ciência e Tecnologia de São Paulo (IFSP)false
dc.title.none.fl_str_mv Study of forces in a 2T9R robot mechanism
title Study of forces in a 2T9R robot mechanism
spellingShingle Study of forces in a 2T9R robot mechanism
Comanescu, Adriana
IfLog
Robot
2T9R robot
Forces
Kinematics
Geometric-analytical method
Direct kinematics
Inverse kinematics
title_short Study of forces in a 2T9R robot mechanism
title_full Study of forces in a 2T9R robot mechanism
title_fullStr Study of forces in a 2T9R robot mechanism
title_full_unstemmed Study of forces in a 2T9R robot mechanism
title_sort Study of forces in a 2T9R robot mechanism
author Comanescu, Adriana
author_facet Comanescu, Adriana
Rotaru, Alexandra
Petrescu, Florian Ion Tiberiu
author_role author
author2 Rotaru, Alexandra
Petrescu, Florian Ion Tiberiu
author2_role author
author
dc.contributor.author.fl_str_mv Comanescu, Adriana
Rotaru, Alexandra
Petrescu, Florian Ion Tiberiu
dc.subject.por.fl_str_mv IfLog
Robot
2T9R robot
Forces
Kinematics
Geometric-analytical method
Direct kinematics
Inverse kinematics
topic IfLog
Robot
2T9R robot
Forces
Kinematics
Geometric-analytical method
Direct kinematics
Inverse kinematics
description The paper presents in detail a method of calculating the forces acting on a 2T9R type robot. In order to determine the reactions (forces in the kinematic couples), one must first determine the inertial forces in the mechanism to which one or more useful loads of the robot can be added. The torsor of the inertia forces is calculated with the help of the masses of the machine elements and the accelerations from the centers of mass of the mechanism elements, so the positions, velocities, and accelerations acting on it will be determined, i.e. its complete kinematics. The calculation method applied by a MathCad program intelligently uses data entry through the IFLOG logic function so that the calculations can be automated. So the effective automation of the calculation program is done exclusively through the IFLOG functions originally used in the paper.
publishDate 2021
dc.date.none.fl_str_mv 2021-12-21
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://www.ijmp.jor.br/index.php/ijmp/article/view/1554
10.14807/ijmp.v12i9.1554
url http://www.ijmp.jor.br/index.php/ijmp/article/view/1554
identifier_str_mv 10.14807/ijmp.v12i9.1554
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv http://www.ijmp.jor.br/index.php/ijmp/article/view/1554/2066
http://www.ijmp.jor.br/index.php/ijmp/article/view/1554/2067
dc.rights.driver.fl_str_mv http://creativecommons.org/licenses/by-nc-sa/4.0
info:eu-repo/semantics/openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by-nc-sa/4.0
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
text/html
dc.publisher.none.fl_str_mv Independent
publisher.none.fl_str_mv Independent
dc.source.none.fl_str_mv Independent Journal of Management & Production; Vol. 12 No. 9 (2021): Independent Journal of Management & Production (Special Edition IFLOG); s741-s773
2236-269X
2236-269X
reponame:Independent Journal of Management & Production
instname:Instituto Federal de Educação, Ciência e Tecnologia de São Paulo (IFSP)
instacron:IJM&P
instname_str Instituto Federal de Educação, Ciência e Tecnologia de São Paulo (IFSP)
instacron_str IJM&P
institution IJM&P
reponame_str Independent Journal of Management & Production
collection Independent Journal of Management & Production
repository.name.fl_str_mv Independent Journal of Management & Production - Instituto Federal de Educação, Ciência e Tecnologia de São Paulo (IFSP)
repository.mail.fl_str_mv ijmp@ijmp.jor.br||paulo@paulorodrigues.pro.br||
_version_ 1797220494001307648

Registros relacionados